8014493/ YDB5/2014-11-25
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3.4 Tracking2: CAN Base ID + 0x3 (e.g. 0x503)
Content
Data area
Data type
Description
Object ID
byte 0
UINT8
ID of this object from the tracking. Use
this ID to refer messages to an object.
Object age
byte 1
UINT8
Number of scans this object has been
tracked for. Saturates at 0xFF.
Object prediction
age
byte 2
UINT8
Number of scans this object has only be
predicted without measurement update.
Saturates at 0xFF. Is reset to 0 after
measurement update.
Object time offset
byte 3
UINT8
Detection time of this object as offset to
the reference time stamp in ms.
Position x sigma
byte 4
UINT8
Standard deviation of the position
estimation in cm.
Position y sigma
byte 5
UINT8
Velocity x sigma
byte 6
UINT8
Standard deviation of the velocity
estimation in cm.
Velocity y sigma
byte 7
UINT8
3.5 Class and box1: CAN Base ID + 0x4 (e.g. 0x504)
Content
Data area
Data type
Description
Object ID
byte 0
UINT8
ID of this object from the tracking. Use
this ID to refer messages to an object.
reserved
byte 1
UINT8
reserved
reserved
byte 2
UINT8
reserved
reserved
byte 3
UINT8
reserved
Box center x
bytes 4…5 INT16
Center position of the box in cm. See list
header for object box / bounding box.
Box center y
bytes 6…7 INT16
3.6 Box2: CAN Base ID + 0x5 (e.g. 0x505)
Content
Data area
Data type
Description
Object ID
byte 0
UINT8
ID of this object from the tracking. Use
this ID to refer messages to an object.
Box size x
bytes 1…2 UINT16
Size of the box in cm in the object
coordinate system. The box orientation is
only available for an object box. A
bounding box is an unrotated rectangle in
the reference coordinate system. In this
case the box size is always given in the
reference coordinate system. 0x8000
indicates an invalid orientation.
Box size x
bytes 3…4 UINT16
